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<div class="title">plane_clipper3D.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_PLANE_CLIPPER3D_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_PLANE_CLIPPER3D_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;clipper3D.h&quot;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_clipper3_d.html">   50</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_clipper3_d.html">Clipper3D</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; PlaneClipper3D&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const PlaneClipper3D&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">PlaneClipper3D</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; plane_params);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a> () <span class="keywordflow">throw</span> ();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">setPlaneParameters</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; plane_params);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">const</span> Eigen::Vector4f&amp; <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">getPlaneParameters</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">clipPoint3D</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">clipLineSegment3D</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; from, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; to) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">clipPlanarPolygon3D</a> (std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; polygon) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">clipPlanarPolygon3D</a> (<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; polygon, std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; clipped_polygon) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">clipPointCloud3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, std::vector&lt;int&gt;&amp; clipped, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices = std::vector&lt;int&gt; ()) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_clipper3_d.html">Clipper3D&lt;PointT&gt;</a>*</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">clone</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      getDistance (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      Eigen::Vector4f plane_params_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  };</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/plane_clipper3D.hpp&gt;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_PLANE_CLIPPER3D_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D</a></div><div class="ttdoc">Base class for 3D clipper objects</div><div class="ttdef"><b>Definition:</b> clipper3D.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a></div><div class="ttdoc">Implementation of a plane clipper in 3D</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a114777afdfae47c56465f4fc5bfe51b9"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">pcl::PlaneClipper3D::setPlaneParameters</a></div><div class="ttdeci">void setPlaneParameters(const Eigen::Vector4f &amp;plane_params)</div><div class="ttdoc">Set new plane parameters</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a12b2a1afde804f3deef4796f7c6177bc"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">pcl::PlaneClipper3D::getPlaneParameters</a></div><div class="ttdeci">const Eigen::Vector4f &amp; getPlaneParameters() const</div><div class="ttdoc">return the current plane parameters</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a37495773a941df125aa63b3b652c2849"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">pcl::PlaneClipper3D::clipPoint3D</a></div><div class="ttdeci">virtual bool clipPoint3D(const PointT &amp;point) const</div><div class="ttdoc">interface to clip a single point</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a77b4dcb8aeca3447eb5e745b5f9d7565"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">pcl::PlaneClipper3D::clone</a></div><div class="ttdeci">virtual Clipper3D&lt; PointT &gt; * clone() const</div><div class="ttdoc">polymorphic method to clone the underlying clipper with its parameters.</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a7af74c2a1e87b07013fc984ff7127870"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">pcl::PlaneClipper3D::clipLineSegment3D</a></div><div class="ttdeci">virtual bool clipLineSegment3D(PointT &amp;from, PointT &amp;to) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a87ae6cf77ea8a9b07bb196cf9bd1c341"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">pcl::PlaneClipper3D::clipPlanarPolygon3D</a></div><div class="ttdeci">virtual void clipPlanarPolygon3D(std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; &amp;polygon) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_aaac8ed63813f1c33ab272745dcc69bfa"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">pcl::PlaneClipper3D::clipPointCloud3D</a></div><div class="ttdeci">virtual void clipPointCloud3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, std::vector&lt; int &gt; &amp;clipped, const std::vector&lt; int &gt; &amp;indices=std::vector&lt; int &gt;()) const</div><div class="ttdoc">interface to clip a point cloud</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:180</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_ab9550462630a027be9fb42fc250766ab"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">pcl::PlaneClipper3D::PlaneClipper3D</a></div><div class="ttdeci">PlaneClipper3D(const Eigen::Vector4f &amp;plane_params)</div><div class="ttdoc">Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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